3D Indoor Wireless Mapping Using the Kinect Sensor on ROS
During my e-Yantra internship at IIT-Bombay, there were a couple of projects which involved using ROS (Robot Operating System). ROS is an incredibly powerful tool to learn and so after the internship, my friend Srijal and I decided that a good starting point to learn ROS would be to make a quadcopter with an onboard computer running ROS and perform 3D mapping with it
So far we have been able to wirelessly create a 3D map of an environment using a Kinect sensor and Raspberry Pi
System Design
We used the ROS framework running on a laptop and a Raspberry Pi, a Microsoft Kinect, RTAB-Map package for ROS for constructing the 3D map and freenect package for interfacing Kinect with ROS
We can create a 3D map of an indoor environment using a depth camera (Microsoft Kinect) connected to a Raspberry Pi and send this information over a Wi-Fi network to a laptop. This will enable mounting of the camera on a quadcopter and create a 3D map of an environment
Results